| Robotics is a hot topic in today’s scientific and technological research. Thedevelopment of the robot experienced several important stages. Initially, some of therobot are tandem structured, but this organization is generally of poor rigidity, longermovement branches, cumulative errors, etc., and of limited working accuracy. So,only this structure is not Ill adapted to sophisticated technology needs. Oppositely, theslowly evolved parallel mechanism is of good stiffness, small cumulative errors, closedkinematic chains and high movement precision. Based on these two different types ofmechanisms, I designs and researches a new robotic body, namely, a newparallel-series structure of industrial robots. The research mainly involves structureanalysis, motion analysis, control structures and motion simulation system.This article is based on the parallel-series robots cascaded by two-tier parallel3-RPS structure, which has high movement precision, strong bearing capacity, flexiblemovement, large work space and a better work attitude ability. So, it is fit specially forsmall geographical space and occasions requiring higher gesture capability. Usingthree-dimensional software, ProE, I work out its three-dimensional map, and introducethe parameters of this new structure in detail, and analyze its velocity and acceleration.By studying the positive and inverse solutions of3-RPS parallel mechanism, I furtherdeduce the solving methods of inverse solution and positive solution for the two-tierparallel mechanism. This paper chose to use PMAC motion control card to build acomplete controlling system for this new structure. By applying the PMAC to this newparallel-series structure, I mainly study the dual-CPU system embedded with PMAC,which has a high openness. Currently, the establishment of communication systems byconnecting the upper computer and the lower computer has great practical value andits numerical system can be reused. Using three-dimensional software for detailedmodeling and assembly and doing motion simulation in the “body" of the moduleProE., I have drawn the overall structure and observed the movement pattern andinterference to lay the foundation in building the actual model. Besides, by leading the simplified model into ADAMS for the simulation of velocity and acceleration andusing analysis software to analyze, I have drawn force and deformation diagram ofmechanism to provide the basis for selection and mechanism optimization. |
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